Our ROS-enabled, navigation capable hexapod robot. Available as either a basic kit (no LiDAR, etc.), or as a fully-loaded robot. Optional assembly service offered.
Basic Hardware Used:
- Robotis Bioloid “Spider” chassis (with optional custom legs)
- CM-904 robot controller
- High capacity battery (3600 mAh)
- LiDAR Scanner (YD LiDAR X4)
- MinIMU gyro/accelerometer (9 DoF)
- Raspberry Pi 3B
- Custom rubber feet
The fully-loaded robot operates completely autonomously.
The software features of this robot include:
- 3-DOF Inverse Kinematic leg control
- Holonomic-capable gait
- Odometric feedback
- ROS node for robot control
The Rhoeby hexapod uses the Robotis CM-904 for the robot controller, and this inter-operates with ROS over bluetooth via our open-source driver. For IMU, the hexapod uses MinIMU. On the basic version, the navigation heavy-lifting is executed “in the cloud” (ie. on a remote laptop, not included).
On the Fully-loaded version, the robot is completely autonomous. In conjunction with a standard ROS navigation suite install, users can build and run the hexapod driver, and publish the “cmd_vel” topic to control the hexapod (eg. for teleop). Beyond that, all procedures are standard practices using the gmapping, AMCL and move_base packages.
* Exact specification is subject to change
Getting Started document here: Rhoeby_Hexapod_Getting_Started.pdf
Open-source ROS driver here:: https://github.com/Rhoeby/hexapod_ros